Rooms Katholieke Combinatie Waalwijk was formed in August 1940, as a combination of three previous clubs: Hercules, WVB and HEC. The club's name translates to 'Roman Catholic Combination Waalwijk' and is usually abbreviated to RKC Waalwijk.

RKC Waalwijk remained an amateur club for several decades, eventually turning professional in 1984. Despite being small in stature, the club has spent much of its time in the top flight of Dutch football, including an uninterrupted spell lasting from 1988 to 2007. At the end of the 2006-07 season, Waalwijk lost 3-0 to VVV-Venlo in a relegation playoff match. Since that time, the club has bounced between the Eredivisie and the Eerste Divisie several times. In 2009, poor performances on the field led to major financial difficulties. The club came close to filing for bankrupcy and was eventually saved by a financial package provided by their main sponsor, Mandemakers Kitchens.

In 2010-11, Waalwijk won the Eerste Divisie and returned to the top division. This, coupled with their title win in the same division back in 1987–88, remain the only honours won by the club to date. The club has competed in the UEFA Intertoto Cup on several occasions, without ever winning tournament.

Some of the more notable players to have represented the club over the years include Dutch international footballers Giovanni van Bronckhorst and Khalid Boulahrouz, former Manchester United goalkeeper Raimond van der Gouw and the Belgian internationals Thomas Vermaelen and Jan Vertonghen; both of whom were loaned to the club by Ajax.

RKC Waalwijk currently play their home matches at the Mandemakers Stadion, which opened back in 1996. The ground is one of the smallest stadiums in the Eredivisie, holding a maximum capacity of 7,500. Previously, the club had played its matches at Sportpark Olympia, which had a capacity of around 6,200.